ROS client for Roboception's SilhouetteMatch module

This node provides ROS services and parameters for Roboception's SilhouetteMatch node. For a detailed description of the SilhouetteMatch module, check the rc_visard manual: https://doc.rc-visard.com/latest/en/silhouettematch.html.

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-silhouettematch-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

• device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
  • serial number, e.g. 02912345. IMPORTANT: preceed with a colon (:02912345) when passing this on the command line or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.
  • user defined name (factory default is the name of the rc_visard's model), must be unique among all reachable sensors.
• host: If device is not used: The IP address or hostname of the rc_visard.

Dynamic reconfigure parameters

• max_number_of_detected_objects: Maximum number of detected objects.
• edge_sensitivity: Sensitivity of the edge detector.
• match_max_distance: Maximum allowed distance in pixels between the template and the detected edges in the image.
• match_percentile: Percentage of template pixels that must be within the maximum distance to successfully match the template.
• quality: Detection quality (H(igh), M(edium), or L(ow)).
• publish_vis: Whether TF and markers should be published.

Services

The following services are offered by the node:

• detect_object: Triggers detection of an object.
• calibrate_base_plane: Triggers base-plane calibration.
• get_base_plane_calibration: Returns the configured base-plane calibration.
• delete_base_plane_calibration: Deletes the configured base-plane calibration.
• set_region_of_interest: Sets a region of interest.
• get_regions_of_interest: Returns the configured regions of interest with the requested ids. If no ids are provided, all configured regions of interest are returned.
• delete_regions_of_interest: Deletes the configured regions of interest with the requested ids.

Launching

Using command line parameters:

rosrun rc_silhouettematch_client rc_silhouettematch_client _device:=:<serial_number>